The leg assembly of a quadruped robot and the quadruped robot

Abstract

This utility model discloses a leg assembly for a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robots. It solves the problem of significant wear between the sleeve and the support rod. The technical solution mainly includes a thigh mechanism and a lower leg mechanism. The lower leg mechanism includes a foot pad mounting base, a support rod, and a sleeve. The bottom end of the foot pad mounting base forms the foot end. The support rod is inserted into and fixedly connected to the foot pad mounting base. The thigh mechanism is hinged to the sleeve. A first protective sleeve is fixed to the outer periphery of the support rod. The sleeve is fitted onto the first protective sleeve and slides within it. The sleeve is elastically loaded and tends to slide away from the foot end. The first protective sleeve at least covers the sliding range of the sleeve. This utility model avoids direct contact between the support rod and the sleeve.

Description

Technical Field

[0001] This utility model illustrates the leg components of a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robot technology. Background Technology

[0002] Quadruped robots are biomimetic robots inspired by the movement of an animal's four limbs. They typically consist of four legs, each equipped with at least one motor and sensor, allowing the robot to perceive its surroundings and move. They are usually designed to move across a variety of terrains and environments, including flat ground, uneven terrain, stairs, narrow spaces, and hazardous environments. They can also be used to explore unknown areas, perform dangerous tasks, and conduct rescue operations.

[0003] When a quadruped robot moves, the ground generates an impact force on its leg components after they land, which is then transmitted to the motors. The higher the quadruped robot's speed, the greater the impact force. This huge impact force not only affects the frequency at which the motors drive the leg components to swing, but can also damage the brackets that hold the motors. Therefore, quadruped robots can generally only move at relatively low speeds.

[0004] To address the aforementioned issues, patent CN118991970A discloses a leg assembly for a quadruped robot, comprising a thigh assembly and a lower leg assembly. The lower leg assembly includes a spring, a support rod, and a sleeve fitted onto the support rod. The sleeve is hinged to the thigh assembly, and the support rod and sleeve are slidably fitted. One end of the spring is connected to the upper end of the support rod, and the other end is connected to the sleeve. The spring extends and retracts as the support rod slides relative to the sleeve. When the lower leg assembly is impacted by the ground, the spring extends as the support rod slides, converting the impact force into its own elastic deformation. This weakens the impact force and reduces its influence on the quadruped robot's movement, effectively improving the quadruped robot's operating speed.

[0005] During the operation of the quadruped robot described in the aforementioned patent, the leg components will swing frequently, causing the sleeve and support rod to slide repeatedly. During the sliding process, the sleeve and support rod will rub against each other. Especially during the high-speed operation of the quadruped robot (about 10m / s), the sleeve and support rod will experience significant wear, which will seriously affect the service life of the sleeve and support rod. Utility Model Content

[0006] The purpose of this invention is to solve the problem of significant wear between the sleeve and the support rod. To this end, a leg assembly for a quadruped robot and a quadruped robot are provided. A first protective sleeve is provided between the support rod and the sleeve to prevent direct contact between the support rod and the sleeve.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] The leg assembly of the quadruped robot includes a thigh mechanism and a lower leg mechanism. The lower leg mechanism includes a foot pad mounting base, a support rod, and a sleeve. The bottom end of the foot pad mounting base forms the foot end. The support rod is inserted into the foot pad mounting base and fixedly connected to it. The thigh mechanism is hinged to the sleeve. A first protective sleeve is fixed to the outer periphery of the support rod. The sleeve is fitted onto the first protective sleeve and slides in cooperation with it. The sleeve is elastically loaded and has a tendency to slide away from the foot end. The first protective sleeve at least covers the sliding range of the sleeve.

[0009] The beneficial effects of using this utility model are:

[0010] During operation, the sleeve of the leg assembly slides relative to the support rod. If the sleeve and support rod are in direct contact, the sleeve will plane the support rod during this relative sliding, causing wear on the outer surface of the support rod. This is especially problematic when the leg assembly is used in a high-mobility quadruped robot, where it undergoes high-frequency, high-speed motion (approximately 10 m / s). Similarly, when the sleeve reciprocates at high frequency relative to the support rod, frictional heat can generate, reducing the strength of the support rod material. In this invention, a first protective sleeve is fixed to the outer periphery of the support rod. This first protective sleeve isolates the sleeve and support rod, preventing direct contact. Therefore, the relative sliding of the sleeve and support rod does not cause friction on the support rod, thus preventing damage due to friction from the sleeve and effectively protecting the support rod, extending its service life. Furthermore, since the sleeve does not directly contact the support rod, the support rod is not affected by the sliding of the sleeve. Therefore, the support rod can be made of higher-strength, lighter carbon fiber material, which can significantly reduce the overall weight of the leg assembly and the load on the quadruped robot during operation, thus supporting the high-speed operation of the quadruped robot. At the same time, the carbon fiber material can also enhance the strength of the leg assembly, enabling the quadruped robot to bear greater weight and withstand greater forces, providing a favorable foundation for the high-speed operation of the quadruped robot. Secondly, the first protective sleeve covers the sliding range of the sleeve, ensuring that the first protective sleeve can effectively support the entire sliding range of the sleeve, reducing the sway amplitude of the sleeve in the radial direction, and making the sliding of the sleeve smoother. Furthermore, the support rod is inserted into the foot pad mounting base and fixedly connected to the foot pad mounting base. The foot pad mounting base can wrap around part of the support rod, which helps to improve the aesthetics of the leg assembly, and at the same time, it can also protect the support rod and reduce the possibility of damage to the support rod from direct collision.

[0011] Preferably, the sleeve has a through hole for the support rod to pass through, and a bushing is fixed inside the through hole, the bushing being fitted onto the outer periphery of the first protective sleeve. Using the aforementioned technical solution, the bushing can isolate the sleeve from the first protective sleeve, preventing direct contact between the sleeve and the first protective sleeve. The bushing can withstand most of the friction, preventing severe wear caused by direct contact and friction between the inner wall of the sleeve and the first protective sleeve. The bushing can protect the first protective sleeve, effectively extending the service life of the sleeve and thus reducing its maintenance costs.

[0012] Preferably, the through hole contains two bushings, one extending to the top of the through hole and the other to the bottom. An inwardly protruding limiting step is located within the through hole, positioned between the two bushings. Using this technical solution, during the sliding process, the bushings can easily plane the first protective sleeve. The bushings extending to both ends of the through hole prevent direct contact between the ends of the through hole and the first protective sleeve, further reducing the possibility of wear on the first protective sleeve and the bushing, thus helping to extend the service life of both. Furthermore, dividing the bushings into two reduces their length and weight, thereby reducing the weight of the leg assembly and making the overall structure of the quadruped robot lighter. Finally, the limiting step, positioned between the two bushings, effectively limits the axial sliding distance of the bushings within the through hole.

[0013] Preferably, a second protective sleeve is fixed to the outer periphery of the support rod, and the second protective sleeve is inserted into the foot pad mounting base along with the support rod. Using the aforementioned technical solution, during operation of the leg assembly, the support rod at the top of the foot pad mounting base will be subjected to significant shear force. Especially during frequent high-speed operation of the leg assembly, the support rod is prone to breakage due to shear force. By fitting the second protective sleeve onto the support rod, and with the second protective sleeve covering the area of ​​the support rod subjected to the greatest shear force, the second protective sleeve can improve the strength of the support rod and also bear most of the shear force, thereby effectively protecting the support rod and reducing the possibility of breakage due to shear force, providing a foundation for the high-speed operation of the leg assembly.

[0014] Preferably, the first and second protective sleeves are an integral structure. By adopting the aforementioned technical solution, the contact area between the protective sleeve and the support rod can be effectively increased, making the fixation of the protective sleeve and the support rod more stable and reliable, reducing the possibility of relative sliding between the protective sleeve and the support rod, preventing damage to the support rod due to friction, and helping to extend the service life of the support rod. Furthermore, the integral structure of the first and second protective sleeves can significantly enhance the overall strength of the support rod, helping to improve its load-bearing capacity.

[0015] Preferably, the top of the foot pad mounting base is provided with a mounting hole for inserting a support rod, and the inner wall of the mounting hole is provided with an inwardly protruding support platform, which abuts against the second protective sleeve. Using the aforementioned technical solution, the support platform can limit the second protective sleeve, restricting its downward sliding relative to the support rod, thus fixing the second protective sleeve relative to the support rod and preventing relative friction between the second protective sleeve and the support rod.

[0016] Preferably, the top of the footpad mounting base is provided with a mounting hole for inserting a support rod. The inner wall of the mounting hole is provided with an adhesive injection groove, the top of which extends to the top of the mounting hole. Both the support rod and the second protective sleeve are fixedly connected to the footpad mounting base with adhesive. Using the aforementioned technical solution, the adhesive injection groove allows for convenient injection of adhesive into the mounting hole, and the support rod is fixed to the footpad mounting base with adhesive, effectively improving the connection stability between the support rod and the footpad mounting base.

[0017] Preferably, the lower leg mechanism includes three support rods arranged in a triangle. A sleeve has three through holes corresponding to the support rods, spaced apart. The footpad mounting base has three mounting holes corresponding to the support rods, also spaced apart. Using this technical solution, the triangular arrangement of the three support rods relative to a single support rod maintains the overall strength of the lower leg mechanism while reducing the overall weight of the support rods, thereby reducing the weight of the leg assembly and making the overall structure of the quadruped robot lighter. Furthermore, the spaced distribution of the three through holes in the sleeve, meaning there is a solid structure between the three through holes, ensures that the outer periphery of each support rod is subjected to the force of the sleeve, effectively limiting the swing amplitude of the support rod. Similarly, the support rods are fixedly connected to the footpad mounting base through the mounting holes, forming a reliable whole and improving the connection stability between the support rods and the footpad mounting base.

[0018] Preferably, the lower leg mechanism further includes a reinforcing rod, which is positioned between the bottom end of the sleeve's sliding range and the top end of the footpad mounting base. The reinforcing rod is located between the three support rods and maintains contact with all three support rods simultaneously. Using the aforementioned technical solution, the reinforcing rod can simultaneously support the three support rods, making them form a unified whole. This further reduces the inward deformation of the three support rods, thereby improving the overall strength of the three support rods and reducing the possibility of damage due to deformation.

[0019] This utility model also demonstrates a quadruped robot, including a torso and four leg components rotatably connected to the torso. Each leg component includes a first motor, a second motor, a thigh mechanism, a lower leg mechanism, and a foot end connected in sequence. The leg components adopt the leg components of the quadruped robot as described in any of the above.

[0020] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings:

[0022] Figure 1 This is a schematic diagram of the leg assembly of the quadruped robot of this utility model;

[0023] Figure 2 This is a schematic diagram of the lower leg mechanism in the leg assembly of the quadruped robot of this utility model;

[0024] Figure 3 This is a cross-sectional view of the leg assembly of the quadruped robot of this utility model;

[0025] Figure 4 for Figure 3 A magnified view of part A in the middle;

[0026] Figure 5 for Figure 3 A magnified view of part B in the middle section;

[0027] Figure 6 This is a schematic diagram of the sleeve structure in the leg assembly of the quadruped robot of this utility model;

[0028] Figure 7 This is a schematic diagram of the foot pad mounting base in the leg assembly of the quadruped robot of this utility model;

[0029] Figure 8 This is a schematic diagram of the structure of the quadruped robot of this utility model.

[0030] Reference numerals: 1. Thigh mechanism; 2. Lower leg mechanism; 21. Support rod; 211. First protective sleeve; 212. Second protective sleeve; 213. End cap; 214. First connecting post; 22. Sleeve; 221. Through hole; 2211. Guide slope; 2212. Annular groove; 222. Bushing; 223. Limiting step; 224. Positioning element; 225. Hinge end; 226. Tension spring; 227. Second connecting post; 23. Foot pad mounting base; 231. Mounting hole; 232. Support platform; 233. Glue injection groove; 3. Foot end; 4. First motor; 5. Second motor; 6. Torso. Detailed Implementation

[0031] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0032] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0033] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] Example 1:

[0035] like Figures 1 to 7 As shown, this embodiment illustrates the leg assembly of a quadruped robot, including a thigh mechanism 1 and a lower leg mechanism 2. The lower leg mechanism 2 includes a foot pad mounting base 23, a support rod 21, and a sleeve 22. The bottom end of the foot pad mounting base 23 forms a foot end 3. The support rod 21 is partially inserted into the foot pad mounting base 23 and fixedly connected to it. The thigh mechanism 1 is hinged to the sleeve 22. A first protective sleeve 211 is fixed to the outer periphery of the support rod 21. The sleeve 22 is fitted onto the first protective sleeve 211 and slides in cooperation with it. The sleeve 22 is elastically loaded and has a sliding tendency away from the foot end 3. The first protective sleeve 211 at least covers the sliding range of the sleeve 22.

[0036] During operation, the sleeve 22 slides relative to the support rod 21. If the sleeve 22 is in direct contact with the support rod 21, the sleeve 22 will plane the support rod 21 during the relative sliding process, causing wear on the outer surface of the support rod 21. This is especially true when the leg assembly is used in a high-mobility quadruped robot, where the leg assembly performs high-frequency, high-speed motion (approximately 10 m / s). Similarly, when the sleeve 22 performs high-frequency reciprocating motion relative to the support rod 21, frictional heat generation reduces the material strength of the support rod 21. In this embodiment, a first protective sleeve 211 is fixed to the outer periphery of the support rod 21. The first protective sleeve 211 isolates the sleeve 22 and the support rod 21, preventing direct contact between the sleeve 22 and the support rod 21. Therefore, the relative sliding between the sleeve 22 and the support rod 21 will not cause friction to the support rod 21, thus preventing damage to the support rod 21 due to friction from the sleeve 22. This provides effective protection for the support rod 21 and helps extend its service life. Furthermore, since the sleeve 22 does not directly contact the support rod 21, the support rod 21 is protected. Since the support rod 21 is not affected by the sliding of the copper sleeve, it can be made of higher-strength, lighter carbon fiber material. This significantly reduces the overall weight of the leg assembly and the load on the quadruped robot during operation, thus supporting its high-speed operation. Simultaneously, the carbon fiber material enhances the strength of the leg assembly, enabling it to bear greater weight and withstand greater forces, providing a favorable foundation for high-speed operation. Secondly, the first protective sleeve 211 covers the sliding range of the sleeve 22, ensuring effective support for the entire sliding range of the sleeve 22, reducing the radial sway of the sleeve 22, and making its sliding smoother. Furthermore, the support rod 21 is partially inserted into and fixedly connected to the foot pad mounting base 23. The foot pad mounting base 23 can partially enclose the support rod 21, improving the aesthetics of the leg assembly and protecting the support rod 21, reducing the possibility of direct collision damage.

[0037] like Figure 1 and Figure 2As shown, the calf mechanism 2 in this embodiment includes a foot pad mounting base 23, a support rod 21, and a sleeve 22. The portion of the support rod 21 away from the thigh mechanism 1 is inserted into the foot pad mounting base 23 and fixedly connected to it. A foot pad is connected to the bottom end of the foot pad mounting base 23, forming a foot end 3 after the foot pad is connected to the foot pad mounting base 23. The sleeve 22 is fitted onto the support rod 21, and the sleeve 22 slides relative to the support rod 21 at the end of the support rod 21 near the thigh mechanism 1. A hinge end 225 is provided on one side of the sleeve 22, and the thigh mechanism 1 is rotatably connected to the hinge end 225, thereby realizing the relative swinging of the calf mechanism 2 and the thigh mechanism 1. In addition, an end cap 213 is provided at the end of the support rod 21 away from the foot pad mounting base 23, and the top end of the support rod 21 is fixedly connected to the end cap 213 by fasteners. The end cap 213 can limit the sleeve 22, thereby preventing the sleeve 22 from detaching from the support rod 21, making the sliding connection between the sleeve 22 and the support rod 21 more stable. The end cap 213 has a first connecting post 214 on its outer side, and the sleeve 22 has a second connecting post 227 on its outer side. The lower leg mechanism 2 also includes an elastic element, which is a tension spring 226. One end of the tension spring 226 is positioned at the first connecting post 214, and the other end is positioned at the second connecting post 227. When the sleeve 22 abuts against the end cap 213, the length of the tension spring 226 is at its shortest. During the operation of the leg assembly, when the lower leg mechanism 2 is impacted, the sleeve 22 will slide downward against the support rod 21. During the sliding process of the sleeve 22, the distance between the first connecting post 214 and the second connecting post 227 increases, which in turn causes the tension spring 226 to be stretched. The tension spring 226 can convert the impact force on the lower leg mechanism 2 into elastic deformation, thereby effectively weakening the impact force on the leg assembly, so that the leg assembly can perform high-speed and high-frequency movement, and at the same time reducing the possibility of damage to the leg assembly due to impact force, which helps to extend the service life of the leg assembly.

[0038] like Figure 3 and Figure 4 As shown, in this embodiment, the sleeve 22 has a through hole 221 through which the support rod 21 passes. A bushing 222 is fixed to the inner wall of the through hole 221. The bushing 222 is fitted onto the outer periphery of the first protective sleeve 211. That is, during the process of the sleeve 22 sliding along the axial direction of the support rod 21, the bushing 222 and the first protective sleeve 211 slide relative to each other and generate friction. The bushing 222 can isolate the sleeve 22 from the first protective sleeve 211, avoiding direct contact between the sleeve 22 and the first protective sleeve 211. The bushing 222 can withstand most of the friction, preventing the inner wall of the sleeve 22 from directly contacting and rubbing against the first protective sleeve 211, which would lead to serious wear. The bushing 222 can protect the first protective sleeve 211, effectively extending the service life of the sleeve 22 and thus reducing the maintenance cost of the sleeve 22.

[0039] In this embodiment, two bushings 222 are provided inside the through hole 221. One bushing 222 extends to the top end of the through hole 221, and the other bushing 222 extends to the bottom end of the through hole 221. That is, the bushings 222 are flush with the top and bottom ends of the through hole 221. An inwardly protruding limiting step 223 is provided inside the through hole 221, and the limiting step 223 is located between the two bushings 222. In addition, two annular grooves 2212 are provided on the inner wall of the through hole 221. The two annular grooves 2212 are divided into... Avoid approaching the top and bottom of the through hole 221. An elastic positioning element 224 is installed within the annular groove 2212. The elastic positioning element 224 is interference-fitted with the outer periphery of the bushing 222, thereby increasing the friction between the bushing 222 and the through hole 221, improving the positioning stability of the bushing 222 and the sleeve 22, and also reducing the possibility of the bushing 222 dislodging from the through hole 221. Furthermore, during the sliding process, the sleeve 22 can easily plan the first protective sleeve 211, while the shaft... The sleeve 222 extends to both ends of the through hole 221, which can prevent the ends of the through hole 221 from directly contacting the first protective sleeve 211, further reducing the possibility of wear on the first protective sleeve 211 and the sleeve 22, and helping to extend the service life of the sleeve 22 and the first protective sleeve 211. Secondly, dividing the bushing 222 into two can reduce the length and weight of the bushing 222, thereby reducing the weight of the leg assembly and making the overall structure of the quadruped robot lighter. The limiting step 223 is located between the two bushings 222. The limiting step 223 can effectively limit the axial sliding distance of the bushing 222 in the through hole 221. In order to avoid direct contact between the limiting step 223 and the first protective sleeve 211, the inner diameter of the limiting step 223 in this embodiment is smaller than the outer diameter of the first protective sleeve 211, that is, there is a gap between the limiting step 223 and the outer periphery of the first protective sleeve 211, thereby preventing friction between the sleeve 22 and the first protective sleeve 211 and causing damage.

[0040] like Figure 6 As shown, in this embodiment, the through hole 221 is provided with guide slopes 2211 at the top and bottom of the sleeve 22. The guide slopes 2211 can increase the inner diameter of the end of the through hole 221, and at the same time, the guide slopes 2211 can also guide the installation of the bushing 222, thereby reducing the installation difficulty of the bushing 222.

[0041] It should be noted that the bushing 222 described in this embodiment is a copper bushing. Copper bushings have good wear resistance, which can effectively reduce the wear between bushing 222 and the first protective sleeve 211, thereby significantly extending the service life of bushing 222 and the first protective sleeve 211. At the same time, copper bushings have a small coefficient of friction, making the sliding of bushing 222 relative to support rod 21 smoother. Of course, it can be understood that in other embodiments, a bushing 222 can also be provided in the through hole 221, with one end of bushing 222 extending to the top of the through hole 221 and the other end extending to the bottom of the through hole 221, that is, the length of bushing 222 is equal to that of bushing 222 in the through hole 221.

[0042] like Figure 5 and Figure 7 As shown, in this embodiment, the top of the foot pad mounting base 23 is provided with a mounting hole 231 for inserting the support rod 21. A second protective sleeve 212 is fixed to the outer periphery of the support rod 21. The second protective sleeve 212 is inserted into the foot pad mounting base 23 along with the support rod 21. The inner wall of the mounting hole 231 is provided with an inwardly protruding support platform 232. The bottom end of the second protective sleeve 212 abuts against the support platform 232. During the operation of the leg assembly, the support rod 21 at the top of the foot pad mounting base 23 will be subjected to a large shear force. Especially when the leg assembly is frequently running at high speed, the support rod 21 is prone to breakage due to shear force. The second protective sleeve 212 is fitted onto the support rod 21. Furthermore, the second protective sleeve 212 covers the position of the support rod 21 where the shear force is greatest. The second protective sleeve 212 can improve the strength of the support rod 21 and can also bear most of the shear force for the support rod 21, thereby effectively protecting the support rod 21 and reducing the possibility of the support rod 21 breaking due to shear force, providing a basis for the high-speed operation of the leg assembly. In addition, the support platform 232 can limit the second protective sleeve 212, restricting the second protective sleeve 212 from sliding downward relative to the support rod 21, so that the second protective sleeve 212 can be fixed relative to the support rod 21, preventing relative friction between the second protective sleeve 212 and the support rod 21.

[0043] In this embodiment, the first protective sleeve 211 and the second protective sleeve 212 are spaced apart on the support rod 21, which reduces the overall length and weight of the first protective sleeve 211 and the second protective sleeve 212, thereby reducing the weight of the leg assembly and making the overall structure of the quadruped robot lighter. Of course, it is understood that in other embodiments, the first protective sleeve 211 and the second protective sleeve 212 can be an integral structure, that is, the length of the protective sleeve is greater than the sliding range of the sleeve 22, and the protective sleeve part is inserted into the foot pad mounting base 23. The integral structure can effectively increase the contact area between the protective sleeve and the support rod 21, making the fixation of the protective sleeve and the support rod 21 more stable and reliable, reducing the possibility of relative sliding between the protective sleeve and the support rod 21, avoiding damage to the support rod 21 due to friction, and helping to extend the service life of the support rod 21. In addition, the integral structure of the first protective sleeve 211 and the second protective sleeve 212 can significantly enhance the overall strength of the support rod 21, which helps to improve the load-bearing capacity of the support rod 21.

[0044] It should be noted that both the first protective sleeve 211 and the second protective sleeve 212 are steel sleeves. Steel sleeves have better tensile strength and can withstand more load and impact for the support rod 21, and are less prone to deformation. In addition, during the high-frequency and high-speed operation of the leg assembly, the sliding speed of the sleeve 22 relative to the support rod 21 is relatively large. The friction between the first protective sleeve 211 and the bushing 222 will generate high temperatures. The steel sleeve has better high-temperature resistance, which allows the first protective sleeve 211 to maintain structural stability at high temperatures, providing structural support for the high-frequency and high-speed operation of the leg assembly.

[0045] like Figure 7 As shown, in this embodiment, the top of the foot pad mounting base 23 is provided with a mounting hole 231 for inserting the support rod 21. The inner wall of the mounting hole 231 is provided with a glue injection groove 233, the top of which extends to the top of the mounting hole 231. The support rod 21 and the second protective sleeve 212 are both fixedly connected to the foot pad mounting base 23 by glue. In the process of connecting the support rod 21 and the foot pad mounting base 23, the support rod 21 is first inserted into the mounting hole 231, and then glue is injected into the mounting hole 231 through the glue injection groove 233. After the glue solidifies, the support rod 21 and the foot pad mounting base 23 can be fixedly connected. The glue injection groove 233 can conveniently inject glue into the mounting hole 231. The support rod 21 is fixed to the foot pad mounting base 23 by the glue, which can effectively improve the connection stability between the support rod 21 and the foot pad mounting base 23.

[0046] like Figure 2As shown, the lower leg mechanism 2 in this embodiment includes three support rods 21 arranged in a triangle. The sleeve 22 has three through holes 221 corresponding to the support rods 21, which are spaced apart. The foot pad mounting base 23 has three mounting holes 231 corresponding to the support rods 21, which are spaced apart. The triangular arrangement of the three support rods 21 relative to one support rod 21 can reduce the overall weight of the support rods 21 while maintaining the overall strength of the lower leg mechanism 2, thereby reducing the weight of the leg assembly and making the overall structure of the quadruped robot lighter. In addition, the spaced distribution of the three through holes 221 in the sleeve 22, i.e., the solid structure between the three through holes 221, allows the outer periphery of each support rod 21 to be subjected to the force of the sleeve 22, which can effectively limit the swing amplitude of the support rod 21. Similarly, the support rods 21 are fixedly connected to the foot pad mounting base 23 through the mounting holes 231, which can make the support rods 21 and the foot pad mounting base 23 form a reliable whole, which helps to improve the connection stability between the support rods 21 and the foot pad mounting base 23.

[0047] It is understandable that in other embodiments, the number of support rods 21 may also be two or one.

[0048] To further enhance the strength of the support rod 21, the lower leg mechanism 2 in this embodiment also includes a reinforcing rod. The reinforcing rod is located between the bottom end of the sliding range of the sleeve 22 and the top end of the foot pad mounting seat 23. The reinforcing rod is located between the three support rods 21 and keeps in contact with the three support rods 21 at the same time. The reinforcing rod can support the three support rods 21 at the same time, so that the three support rods 21 form a whole, further reducing the inward deformation of the three support rods 21, thereby improving the overall strength of the three support rods 21 and reducing the possibility of the support rods 21 being damaged due to deformation.

[0049] Example 2:

[0050] like Figure 8 As shown, this embodiment also illustrates a quadruped robot, including a torso 6 and four leg components rotatably connected to the torso 6. The leg components include a first motor 4, a second motor 5, a thigh mechanism 1, a lower leg mechanism 2, and a foot end 3 connected in sequence. The leg components adopt the leg components of the quadruped robot described in Embodiment 1.

[0051] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A leg assembly for a quadruped robot, the leg assembly comprising: The device includes a thigh mechanism and a calf mechanism. The calf mechanism includes a foot pad mounting base, a support rod, and a sleeve. The bottom end of the foot pad mounting base forms the foot end. The support rod is inserted into the foot pad mounting base and fixedly connected to it. The thigh mechanism is hinged to the sleeve. A first protective sleeve is fixed to the outer periphery of the support rod. The sleeve is fitted onto the first protective sleeve and slides in cooperation with it. The sleeve is elastically loaded and has a tendency to slide away from the foot end. The first protective sleeve at least covers the sliding range of the sleeve. 2.The leg assembly of the quadruped robot according to claim 1, wherein, The sleeve has a through hole through which the support rod passes, and a bushing is fixed in the through hole. The bushing is fitted onto the outer periphery of the first protective sleeve.

3. The leg assembly of the quadruped robot according to claim 2, wherein, The through hole is provided with two bushings, one of which extends to the top of the through hole and the other extends to the bottom of the through hole. The through hole is provided with an inwardly protruding limiting step, which is located between the two bushings.

4. The leg assembly of the quadruped robot according to claim 1, wherein, A second protective sleeve is fixed to the outer periphery of the support rod, and part of the second protective sleeve is inserted into the foot pad mounting base along with the support rod.

5. The leg assembly of the quadruped robot according to claim 4, wherein, The first protective sleeve and the second protective sleeve are an integral structure. 6.The leg assembly of the quadruped robot according to claim 4, wherein, The top of the foot pad mounting base is provided with a mounting hole for inserting a support rod. The inner wall of the mounting hole is provided with an inwardly protruding support platform, and the second protective sleeve abuts against the support platform.

7. The quadruped robot's leg assembly according to claim 4, wherein, The top of the foot pad mounting base is provided with a mounting hole for inserting a support rod. The inner wall of the mounting hole is provided with an adhesive injection groove, the top of which extends to the top of the mounting hole. The support rod and the second protective sleeve are both fixedly connected to the foot pad mounting base by adhesive. 8.The leg assembly of the quadruped robot according to claim 1, wherein, The lower leg mechanism includes three support rods arranged in a triangle. The sleeve has three through holes corresponding to the support rods, and the three through holes are spaced apart. The foot pad mounting seat has three mounting holes corresponding to the support rods, and the three mounting holes are spaced apart. 9.The leg assembly of the quadruped robot according to claim 8, wherein, The lower leg mechanism also includes a reinforcing rod, which is located between the bottom end of the sleeve sliding range and the top end of the foot pad mounting seat. The reinforcing rod is positioned between the three support rods and maintains contact with all three support rods simultaneously.

10. A quadruped robot, characterized by The device includes a torso and four leg assemblies rotatably connected to the torso. Each leg assembly includes a first motor, a second motor, a thigh mechanism, a lower leg mechanism, and a foot end connected in sequence. The leg assemblies are the same as those of a quadruped robot as described in any one of claims 1 to 9.

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